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desire_helper.py:修改APP通过命令控制变道的逻辑

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openpilot
2026-04-20 07:16:41 +08:00
parent db5c1306af
commit 335dd7698a
1 changed files with 4 additions and 3 deletions
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selfdrive/controls/lib/desire_helper.py
+4 -3
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@@ -493,11 +493,11 @@ class DesireHelper:
if self.carrot_overtake_cmd:
atc_left_right = True
#在变道期间不再接受下一条变道命令，防止结束当前变道后再一次变道
if carrotMan.carrotCmdIndex != self.carrot_cmd_index_last and (carrotMan.carrotCmd == "LANECHANGE" or carrotMan.carrotCmd == "OVERTAKE"):
self.carrot_cmd_index_last = carrotMan.carrotCmdIndex
#if carrotMan.carrotCmdIndex != self.carrot_cmd_index_last and (carrotMan.carrotCmd == "LANECHANGE" or carrotMan.carrotCmd == "OVERTAKE"):
# self.carrot_cmd_index_last = carrotMan.carrotCmdIndex
elif carrotMan.carrotCmdIndex != self.carrot_cmd_index_last and (carrotMan.carrotCmd == "LANECHANGE" or carrotMan.carrotCmd == "OVERTAKE"): #来自app的变道命令
self.carrot_cmd_index_last = carrotMan.carrotCmdIndex
self.carrot_lane_change_count = int(LANE_CHANGE_TIME_MAX*2 / DT_MDL)
self.carrot_lane_change_count = int(0.2 / DT_MDL)
self.carrot_blinker_state = BLINKER_LEFT if carrotMan.carrotArg == "LEFT" else BLINKER_RIGHT
print(f"---[{time.strftime('%H:%M:%S')}]Desire lanechange: {carrotMan.carrotArg},counter={self.carrot_lane_change_count},blinker={self.carrot_blinker_state},"
f"state={self.lane_change_state},prev_desire_enabled={self.prev_desire_enabled},"
@@ -511,6 +511,7 @@ class DesireHelper:
#self.lane_count_last = -1
if carrotMan.carrotCmd == "OVERTAKE":
self.carrot_overtake_cmd = True
atc_left_right = True
elif atc_type in ["turn left", "turn right"]: #来自carrot_man.py的update_auto_turn函数，转弯请求
if self.atc_active != 2:
below_lane_change_speed = True